US10177695B2 - Motor control apparatus and control method for motor control apparatus - Google Patents

Motor control apparatus and control method for motor control apparatus Download PDF

Info

Publication number
US10177695B2
US10177695B2 US15/627,094 US201715627094A US10177695B2 US 10177695 B2 US10177695 B2 US 10177695B2 US 201715627094 A US201715627094 A US 201715627094A US 10177695 B2 US10177695 B2 US 10177695B2
Authority
US
United States
Prior art keywords
rotation
calculation
unit
harmonic
rotation calculation
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related, expires
Application number
US15/627,094
Other languages
English (en)
Other versions
US20170373618A1 (en
Inventor
Toru Miyazawa
Masahiko Mizoguchi
Kota Kiyama
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Canon Inc
Original Assignee
Canon Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Canon Inc filed Critical Canon Inc
Assigned to CANON KABUSHIKI KAISHA reassignment CANON KABUSHIKI KAISHA ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: KIYAMA, KOTA, MIZOGUCHI, MASAHIKO, MIYAZAWA, TORU
Publication of US20170373618A1 publication Critical patent/US20170373618A1/en
Application granted granted Critical
Publication of US10177695B2 publication Critical patent/US10177695B2/en
Expired - Fee Related legal-status Critical Current
Adjusted expiration legal-status Critical

Links

Images

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/28—Arrangements for controlling current
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop

Definitions

  • an estimated position error due to harmonics is reduced by making a motor voltage or motor current to pass through a low-pass filter.
  • the use of the low-pass filter enables removal of harmonic components from the motor voltage and motor current, obtainment of the counter electromotive voltage including no harmonic components, a reduction in estimated positional error.
  • FIG. 1 is a diagram illustrating a schematic configuration of a motor control apparatus according to a first embodiment.
  • FIG. 12 is a diagram illustrating an electrical connection between an inverter and a motor according to the second embodiment.
  • FIG. 18 is a table illustrating rotation reference directions and elements of a rotation direction discriminant.
  • the motor control apparatus includes a 2-phase stepping motor 11 , a current detection unit 12 , a position estimation unit 13 , a speed calculation unit 14 , a driving voltage command generation unit 15 , a pulse width modulation (PWM) signal generation unit 16 , and an inverter 17 .
  • the 2-phase stepping motor 11 includes a rotor 111 including a permanent magnet, and a stator including windings 112 A and 112 B which have two phases, i.e., an A-phase and a B-phase, respectively.
  • V ⁇ V ⁇ ( cos ⁇ ⁇ ⁇ 0 sin ⁇ ⁇ ⁇ 0 - sin ⁇ ⁇ ⁇ 0 cos ⁇ ⁇ ⁇ 0 ) ⁇ ( V d V q ) ( 2 )
  • a third term and a fourth term (a 31 Y cos 3 ⁇ -a 31 X sin 3 ⁇ ) on the left-hand side of Expression (22) match a result Y out31 of the Y-coordinate when a 3 ⁇ left rotation calculation (Expression (24)) is performed on coordinates (a 31 X, a 31 Y).
  • the initial value generation unit 30 generates initial input coordinates of each of the rotation calculation units 31 , 32 , and 33 in the subsequent stage based on intensity information (a 1 , a 31 , a 32 ) supplied from a higher-order control unit, A-phase data X, and B-phase data Y.
  • the initial input coordinates of the fundamental wave component rotation calculation unit 31 are represented by (a 1 X, a 1 Y)
  • the initial input coordinates of the third-order harmonic first/second term component rotation calculation units 32 and 33 are represented by (a 31 X, a 31 Y) and (a 32 X, a 32 Y), respectively.
  • the initial value generation unit 30 outputs, to the rotation calculation unit 31 , the initial value (a 1 X, a 1 Y) of the coordinate data on the fundamental wave, outputs, to the rotation calculation unit 32 , the initial value (a 31 X, a 31 Y) of the coordinate data on harmonics, and outputs, to the rotation calculation unit 33 , the initial value (a 32 X, a 32 Y) of the coordinate data on harmonics.
  • These values match the coordinates obtained by the rotation calculations as shown in the rotation calculation Expressions (Expression (23), Expression (24), and Expression (25)) described above regarding the principle of the processing calculation.
  • the absolute value correction unit 313 corrects the absolute value. Specifically, the absolute value correction unit 313 corrects the absolute value of the result of the rotation calculation of the rotation calculation unit 31 so that the rate of change in the absolute value of the result of the rotation calculation of the rotation calculation unit 31 matches the rate of change in the absolute value of the result of the rotation calculation of the rotation calculation units 32 and 33 .
  • a correction coefficient C i for the absolute value of the first rotation calculation is shown in Expression (30), and the operation shown in Expression (31) is carried out.
  • the reference rotation direction ⁇ def31 is set for each component, and “1” is set as a value at which the rotation direction of the rotation calculation expression (Expression 23) for obtaining an element (Y out31 ) of the third-order harmonic first term component matches the rotation direction of the initial rotation calculation.
  • An actual rotation angle 3 ⁇ i of the rotation calculation shown in Expression (33) is expressed by Expression (34).
  • 3 ⁇ i 3 ⁇ tan ⁇ 1 (2 ⁇ i ) (34)
  • the motor control apparatus decreases the gain for the speed control of the speed control unit 151 .
  • the motor control apparatus inserts a band-stop filter, such as a notch filter, which is used to decrease the gain of the frequency of the harmonic component of the counter electromotive voltage, into a control loop of the speed control of the speed control unit 151 .
  • the motor control apparatus decreases a PI gain for the speed control. As a result, a control based on error information about the estimated speed can be inhibited.
  • the motor control apparatus changes the gain for the speed control to a value that is smaller than the gain for the speed control of the speed control unit 151 during normal driving of the motor 11 .
  • the inverter 47 includes six FETs 471 U, 473 U, 471 V, 473 V, 471 W, and 473 W and six diodes 472 U, 474 U, 472 V, 474 V, 472 W, and 474 W.
  • the FETs 471 U, 473 U, 471 V, 473 V, 471 W, and 473 W are driven by the PWM signal input from the PWM signal generation unit 46 .
  • the diodes 472 U, 474 U, 472 V, 474 V, 472 W, and 474 W are free wheeling diodes.

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Control Of Ac Motors In General (AREA)
US15/627,094 2016-06-24 2017-06-19 Motor control apparatus and control method for motor control apparatus Expired - Fee Related US10177695B2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2016-125441 2016-06-24
JP2016125441A JP6742834B2 (ja) 2016-06-24 2016-06-24 モータ制御装置及びモータ制御装置の制御方法

Publications (2)

Publication Number Publication Date
US20170373618A1 US20170373618A1 (en) 2017-12-28
US10177695B2 true US10177695B2 (en) 2019-01-08

Family

ID=60677690

Family Applications (1)

Application Number Title Priority Date Filing Date
US15/627,094 Expired - Fee Related US10177695B2 (en) 2016-06-24 2017-06-19 Motor control apparatus and control method for motor control apparatus

Country Status (2)

Country Link
US (1) US10177695B2 (ja)
JP (1) JP6742834B2 (ja)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106533299B (zh) * 2016-12-27 2018-10-02 山东大学 同时消除反电势、负载转矩扰动的伺服控制方法及其系统
JP7082369B2 (ja) * 2018-09-05 2022-06-08 株式会社荏原製作所 電動機の駆動装置
CN114204865B (zh) * 2020-09-17 2023-06-13 北京金风科创风电设备有限公司 永磁同步发电机电角速度的估计方法及设备
US11817806B2 (en) * 2021-08-31 2023-11-14 Kinetic Technologies International Holdings Lp Method of determining initial speed for a synchronous motor and a controller therefor
US11799411B2 (en) 2021-08-31 2023-10-24 Kinetic Technologies International Holdings Lp Multi-phase permanent magnet rotor motor with independent phase coil windings

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030128009A1 (en) * 2001-12-27 2003-07-10 Hitachi, Ltd. Motor control apparatus and method
US20070013333A1 (en) * 2005-07-15 2007-01-18 Hitachi, Ltd. AC motor driving apparatus and method of controlling the same
US20080197799A1 (en) * 2007-02-15 2008-08-21 Sanyo Electric Co., Ltd. Motor control device
JP4154149B2 (ja) 2001-12-28 2008-09-24 株式会社東芝 ベクトル制御インバータ装置
US20090289587A1 (en) * 2008-05-22 2009-11-26 Denso Corporation Apparatus for estimating rotor position of brushless motors and system and method for controlling start-up of brushless motors
JP4631672B2 (ja) 2005-11-29 2011-02-16 株式会社デンソー 磁極位置推定方法、モータ速度推定方法及びモータ制御装置
US20130069572A1 (en) * 2011-09-15 2013-03-21 Kabushiki Kaisha Toshiba Motor control device
JP5170505B2 (ja) 2007-02-07 2013-03-27 株式会社ジェイテクト モータ制御装置

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030128009A1 (en) * 2001-12-27 2003-07-10 Hitachi, Ltd. Motor control apparatus and method
JP4154149B2 (ja) 2001-12-28 2008-09-24 株式会社東芝 ベクトル制御インバータ装置
US20070013333A1 (en) * 2005-07-15 2007-01-18 Hitachi, Ltd. AC motor driving apparatus and method of controlling the same
JP4631672B2 (ja) 2005-11-29 2011-02-16 株式会社デンソー 磁極位置推定方法、モータ速度推定方法及びモータ制御装置
JP5170505B2 (ja) 2007-02-07 2013-03-27 株式会社ジェイテクト モータ制御装置
US20080197799A1 (en) * 2007-02-15 2008-08-21 Sanyo Electric Co., Ltd. Motor control device
US20090289587A1 (en) * 2008-05-22 2009-11-26 Denso Corporation Apparatus for estimating rotor position of brushless motors and system and method for controlling start-up of brushless motors
US20130069572A1 (en) * 2011-09-15 2013-03-21 Kabushiki Kaisha Toshiba Motor control device

Also Published As

Publication number Publication date
JP6742834B2 (ja) 2020-08-19
JP2017229200A (ja) 2017-12-28
US20170373618A1 (en) 2017-12-28

Similar Documents

Publication Publication Date Title
US10177695B2 (en) Motor control apparatus and control method for motor control apparatus
US7932692B2 (en) Control system for rotary electric machine with salient structure
US10161766B2 (en) Magnetic pole position detection device of permanent magnet-type synchronous motor
JP6617500B2 (ja) 電動パワーステアリング制御方法、電動パワーステアリング制御装置、電動パワーステアリング装置および車両
US9112436B2 (en) System for controlling controlled variable of rotary machine
US20170264227A1 (en) Inverter control device and motor drive system
JP5321792B2 (ja) 永久磁石形同期電動機の制御装置
US10199972B2 (en) Control device for an electric motor
KR20130095819A (ko) 동기 전동기의 인덕턴스 측정 장치 및 측정 방법
JP2010011543A (ja) モータ制御装置
JP5170505B2 (ja) モータ制御装置
EP3790186A1 (en) Motor controller and motor control method
JP2011050178A (ja) モータ制御装置及び発電機制御装置
CN113826317B (zh) 旋转电机的控制装置
CN109391186B (zh) 控制装置以及控制方法
JP4722002B2 (ja) Ｐｗｍインバータ制御装置及びｐｗｍインバータ制御方法並びに冷凍空調装置
US11309817B2 (en) Control device of rotating machine, and control device of electric vehicle
CN111313780B (zh) 永磁体同步电动机的控制装置及运转方法、微型计算机、电动机系统
JP5853641B2 (ja) 線電流検出装置および電力変換システム
JP2007082380A (ja) 同期モータ制御装置
JP2009100544A (ja) モータ制御装置
JP2019170089A (ja) モータ制御装置
JP4448351B2 (ja) 電力変換器の制御装置
US20240162843A1 (en) Motor drive control device and fan unit
US20220131488A1 (en) Controller for ac rotary electric machine

Legal Events

Date Code Title Description
AS Assignment

Owner name: CANON KABUSHIKI KAISHA, JAPAN

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:MIYAZAWA, TORU;MIZOGUCHI, MASAHIKO;KIYAMA, KOTA;SIGNING DATES FROM 20170601 TO 20170605;REEL/FRAME:043788/0986

STCF Information on status: patent grant

Free format text: PATENTED CASE

FEPP Fee payment procedure

Free format text: MAINTENANCE FEE REMINDER MAILED (ORIGINAL EVENT CODE: REM.); ENTITY STATUS OF PATENT OWNER: LARGE ENTITY

LAPS Lapse for failure to pay maintenance fees

Free format text: PATENT EXPIRED FOR FAILURE TO PAY MAINTENANCE FEES (ORIGINAL EVENT CODE: EXP.); ENTITY STATUS OF PATENT OWNER: LARGE ENTITY

STCH Information on status: patent discontinuation

Free format text: PATENT EXPIRED DUE TO NONPAYMENT OF MAINTENANCE FEES UNDER 37 CFR 1.362

FP Lapsed due to failure to pay maintenance fee

Effective date: 20230108